def __init__(self,
picturePath,
picturesToTake=1,
pause=0.5,
objectName="",
angles=0,
objectAltitude=None,
startingAngle=0):
self.pictureManager = PictureManager(picturePath)
self.picturesToTake = picturesToTake
self.pause = pause
self.objectName = objectName
self.angles = angles
self.objectAltitude = objectAltitude
self.startingAngle = startingAngle
# describes the nth time this class has been called in the state machine
self.captureRound = 1
# describes the # of times pictures have been taken for this state call
self.picturesTaken = 1
self.lastTaken = time.clock()
self.shownInitMessage = False
# stores the images in the form of a tuple (image, filename)
self.imageCache = []
def __init__(self):
# getting access to elements in DroneVideo and FlightstatsReciever
super(DroneMaster, self).__init__()
self.objectName = "Test Object"
self.startingAngle = 0
self.circleRadius = 1 #meters
self.circlePoints = 8 #numbers of points equally spaced along circle
self.startTime = 0
# backpack: 120/-55/95
# +100 for big objects, +50 for shorter objects. (Modifies how close drone is to object; smaller # > closer)
# +10 for very small objects.
self.yOffset = 0
# -30 for big objects, -15 for shorter objects. (Modifies how close drone is to object; larger # > closer)
self.ySizeOffset = -30
# +75 for tall objects or using cube, 0 for shorter objects. (Modifies how high the drone should fly; smaller # > lower
self.zOffset = 25
# Seting up a timestamped folder inside Flight_Info that will have the pictures & log of this flight
self.droneRecordPath = (
expanduser("~") +
"/drone_ws/src/SVCL_ardrone_automation/src/Flight_Info/" +
self.objectName + "_Flight_" +
datetime.datetime.now().strftime("%m-%d-%Y__%H:%M:%S, %A") + "/")
if not os.path.exists(self.droneRecordPath):
os.makedirs(self.droneRecordPath)
#self.logger = Logger(self.droneRecordPath, "AR Drone Flight")
#self.logger.Start()
#import PID and color constants
self.settingsPath = expanduser(
"~"
) + "/drone_ws/src/SVCL_ardrone_automation/src/resources/calibrater_settings.txt"
# initalizing the state machine that will handle which algorithms to run at which time;
# the results of the algorithms will be used to control the drone
self.stateMachine = StateMachine()
# drone starts without any machine loaded, so that it can be controlled using the keyboard
self.currMachine = None
# i1nitalizing helper objects
self.pictureManager = PictureManager(self.droneRecordPath)
self.controller = BasicDroneController("TraceCircle")
self.startTimer = time.clock()
# max height of drone, in mm; any higher and the drone will auto-land
self.maxHeight = 2530
self.emergency = False
self.captureRound = 0.5
self.oldBattery = -1
self.photoDirective = CapturePhotoDirective(self.droneRecordPath, 30,
0.014, self.objectName,
self.circlePoints, 1000, 0)
self.keySub = rospy.Subscriber('/controller/keyboard', ROSString,
self.keyPress)